US 12,257,717 B2
Multi-joint-robot linear-member-shape simulator, multi-joint-robot linear-member-shape simulation method, and multi-joint-robot linear-member-shape simulation program
Fumiaki Sawakawa, Kobe (JP); and Masatoshi Hida, Kobe (JP)
Assigned to Kobe Steel, Ltd., Kobe (JP)
Filed by Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.), Kobe (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/656,289.
Claims priority of application No. 2021-068897 (JP), filed on Apr. 15, 2021.
Prior Publication US 2022/0331958 A1, Oct. 20, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/12 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/123 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A multi-joint-robot linear-member-shape simulator that determines a shape of a linear member attached to a multi-joint robot when the multi-joint robot is in a predetermined posture, the multi-joint-robot linear-member-shape simulator comprising:
an input unit that receives a position of at least one via point via which the linear member extends between a start-point position and an end-point position of the linear member, an initial position of an adjustment via point via which the linear member extends and that adjusts a length of the linear member, and an adjustment parameter of the adjustment via point;
a shape control function that executes shape control for determining the shape of the linear member;
a length adjustment function that executes a length adjustment for determining the length of the linear member when the linear member has the shape determined by the shape control function;
a shape setting unit that executes the shape control and the length adjustment in repetition cycles by using the position of the via point input to the input unit and the initial position of the adjustment via point input to the input unit as an initial value until a difference between an actual length of the linear member and the length of the linear member determined by the length adjustment function becomes smaller than or equal to a permissible value, wherein the shape setting unit changes the adjustment parameter when the shape control is to be executed, and
a control unit configured to
create operation data comprising an operation program for moving the multi-joint robot based upon the determined shape of the linear member;
store the operation data in a memory connected to the control unit; and
read the stored operation data and execute the operation program to move the multi-joint robot.